Multi-platform vibro-kinetic system

ABSTRACT

A multi-platform vibro-kinetic system comprises a plurality of motion platforms each having actuators to be displaceable to produce vibro-kinetic effects. The system may obtain movements of one or more operator(s), interpret the movements of the operator and identifying from the movements an operator instruction for effect generation, and output a motion signal containing instructions for producing a vibro-kinetic effect on at least one of the motion platforms as a response to the operator instruction.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims the priority of U.S. Patent ApplicationNo. 62/665,122, filed on May 1, 2018, and incorporated herein byreference.

FIELD OF THE APPLICATION

The present application relates to motion simulators performingvibro-kinetic effects in synchronization with a video output, an audiooutput and/or a live event.

BACKGROUND OF THE ART

Motion simulators performing vibro-kinetic effects are commonly used toenhance a viewing experience of a video program. In such technology, amotion simulator features a seat or platform that is displaced byactuators according to vibro-kinetic effects in synchronization with anaudio-visual program or visual event. In a particular type of suchmotion simulators, the motion simulators move based on motion signalsthat are encoded as a motion track, in contrast to vibrations beingextracted from a soundtrack of an audio-visual program.

It would be desirable to use vibro-kinetic effects or like motions ofplatforms to other types of entertainment, including live shows andon-scene performances. Yet, vibro-kinetic effects are often based onmotion tracks encoded as a function of video program.

SUMMARY OF THE DISCLOSURE

Therefore, in accordance with a first embodiment of the presentdisclosure, there is provided a system for actuating motion platforms ofa multi-platform vibro-kinetic system comprising: a processing unit; anda non-transitory computer-readable memory communicatively coupled to theprocessing unit and comprising computer-readable program instructionsexecutable by the processing unit for: obtaining movements of at leastone operator, interpreting the movements of the operator and identifyingfrom the movements an operator instruction for effect generation, andoutputting a motion signal containing instructions for producing avibro-kinetic effect on at least one of the motion platforms as aresponse to the operator instruction.

Further in accordance with the first embodiment, obtaining movements ofat least one operator includes for example obtaining a stream of athree-dimensional model representation of an operator.

Still further in accordance with the first embodiment, obtainingmovements of the operator includes for example capturing the movementsfrom at least one motion sensing input device.

Still further in accordance with the first embodiment, obtainingmovements of the operator includes for example generating thethree-dimensional model representation of the operator.

Still further in accordance with the first embodiment, interpreting themovements of the operator includes for example obtaining a motion sampleas a function of an interpreted type of the movements.

Still further in accordance with the first embodiment, outputting amotion signal includes for example obtaining the motion sample from adatabase matching motion samples with interpreted types of movements.

Still further in accordance with the first embodiment, interpreting themovements of the operator includes for example quantifying the movementsof the operator, and wherein outputting the motion signal includes forexample producing the vibro-kinetic effect proportional to thequantifying of the movements.

Still further in accordance with the first embodiment, quantifying themovements of the operator is triggered by interpreting at least one ofmovements as a trigger for the quantifying.

Still further in accordance with the first embodiment, producing thevibro-kinetic effect proportional to the quantifying of the movementsincludes for example adjusting one or more of an amplitude, a frequency,and a distance of the motion platform.

Still further in accordance with the first embodiment, identifying fromthe movements an operator instruction for effect generation includes forexample identifying from the movements a zone of the motion platforms towhich the motion signal is output as a response to the operatorinstruction, while motion platforms outside the zone are not actuated asa response to the operator instruction.

Still further in accordance with the first embodiment, identifying thezone of the motion platforms includes for example interpreting adirection of a pointing limb of the operator to identify the zone.

Still further in accordance with the first embodiment, outputting themotion signal includes for example outputting the motion signal to aplurality of the motion platform and wherein outputting the motionsignal includes for example adding a timed delay to neighbor ones of themotion platforms as a function of a physical distance between the seats.

Still further in accordance with the first embodiment, adding a timeddelay includes for example adding a timed delay of 300 ms to 700 ms permeter.

Still further in accordance with the first embodiment, a motion signaltrack is for example to a plurality of the motion platforms whileoutputting the motion signal as a response to the operator instruction.

Still further in accordance with the first embodiment, outputting themotion signal track is output for example in synchronicity with an audiotrack and/or a video track.

Still further in accordance with the first embodiment, outputting themotion signal as a response to the operator instruction supersedes orsupplements for example the outputting of the motion signal track.

Still further in accordance with the first embodiment, actuators of theat least one motion platform are actuated for example with the motionsignal to produce the vibro-kinetic effect.

Still further in accordance with the first embodiment, actuating theactuators includes for example actuating the actuators at a frequencyspectral content of 0-200 Hz.

In accordance with a second embodiment of the present disclosure, thereis provided a multi-platform vibro-kinetic system comprising: aplurality of motion platforms each having actuators to be displaceableto produce vibro-kinetic effects; the system according as describedabove for actuating the motion platforms.

Further in accordance with the second embodiment, at least one motionsensing input device is provided for example for capturing movements ofthe operator.

Still further in accordance with the second embodiment, a screen forexample displays a video content.

In accordance with a third embodiment of the present disclosure, thereis provided a method for actuating motion platforms of a multi-platformvibro-kinetic system comprising: obtaining a stream of athree-dimensional model representation of an operator; monitoring thestream and interpreting at least one movement of the operator from thestream as a manual instruction for effect generation; and outputting amotion signal containing instructions for producing a vibro-kineticeffect on at least one of the motion platforms.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an embodiment of a motion platformactuated to produce vibro-kinetic effects in accordance with the presentdisclosure;

FIG. 2 is a schematic view of a multi-platform vibro-kinetic system inaccordance with an embodiment of the present disclosure; and

FIG. 3 is a block diagram of a live control unit for the multi-platformvibro-kinetic system of FIG. 2.

DESCRIPTION OF THE EMBODIMENTS

Referring to the drawings, and more particularly to FIG. 1, there isillustrated at 10 a motion platform outputting vibro-kinetic effects insynchronization with a video output, an audio output and/or a liveevent. By way of example, the motion platform 10 may include a motionsimulator, with motion platform and motion simulator usedinterchangeably. The motion simulator is of the type that receivesactuation signals so as to move an output thereof in accordance with aset of movements. The actuation signals may be known as motion signal,motion samples, motion code, motion commands, and are representative ofmovements to be performed being received from a controller. In theillustrated embodiment, the motion simulator has a seat having a seatportion 11 in which a user(s) may be seated. Other occupant supportingstructures may be included, such as a platform, but for simplicity theexpression seat portion 11 will be used in the present application.

The seat portion 11 is shown as having armrests, a seat, and a backrestand this is one of numerous configurations considered, as the seatportion 11 could be for a single user, multiple users, may be a bench,etc, (e.g., no armrest and/or no backrest). The motion simulator alsohas an actuation system 12 by which the output, namely the seat portion11, is supported to the ground. The actuation system 12 is shown ashaving a casing hiding its various components, although a linearactuator 13 is partly visible. The actuation system may have one or moreof these linear actuators 13, supporting the output, i.e., the seatportion 11, from the ground. The seat portion 11 may also be supportedby a seat leg, column or post with or without passive joint(s) inparallel arrangement with the linear actuator(s) 13. In an embodiment,the linear actuator 13 is an electro-mechanical actuator of the typehaving a ball-screw system, although other types of linear actuators maybe used. For example, a single one of the linear actuators 13 canproduce up and down motion and vibrations. A pair of the linearactuators 13 can produce two of up and down motion, pitch motion or rollmotion, with or without a passive joint. Three linear actuators 13 canproduce up and down motion, pitch motion and roll motion. The motionsimulator 10 of FIG. 1 is one among numerous possible configurations forthe motion simulator 10. For example, the motion simulator 10 maysupport a platform or structure instead of a seat portion, in a flightsimulator embodiment, or an end effector in the case of a parallelmanipulator or like robotic application. The motion simulator mayinclude the necessary electronics to receive a digital signal withmotion content (referred to as motion signal) to drive the actuationsystem 12 in performing movements in synchronization with an audio orvideo output or a virtual reality session, as described hereinafter.Stated differently, the motion simulator may have a local driver toconvert the motion signal into a powering of the linear actuators 13 toproduce the desired vibro-kinetic effect. The motion platform 10 mayalso include various sensors to quantify the movements of the seatportion 11 (e.g., acceleration, speed, load) and to quantify the loadresulting from the presence of a user (e.g., weight of the user, weightspread on the seat portion 11, etc). The sensors may include any one ofinertial sensors (e.g., accelerometer, gyroscope), thermocouples, loadcells, pressure sensors, among others.

For context, vibro-kinetic effects refers to vibrations and/ordisplacements performed by a motion platform and presented to a user asa sensory feedback. By way of non-limiting example, the vibro-kineticeffects may be low amplitude reciprocate movements or vibrations, from 1micron to 200 mm. The vibro-kinetic effects may have a low frequencyspectral content, such as 0-5 Hz, 20-100 Hz or 0-200 Hz, and may containone or more dimension or channel. According to an embodiment, thevibro-kinetic effects are encoded effects, also known as motion samples.

The motion platform 10 may be part of a system featuring a motioncontroller 20 feeding the motion platform 10 with a motion signalrepresentative of the vibro-kinetic effects to be performed by themotion platform 10. In addition to the example of FIG. 1, the motionplatform 10 can take various forms, such as a vibro-kinetic platform forlifting people relative to a structure, a motion platform supporting aseat, a chair with inertial shakers, a portable tactile display forproviding haptic feedback, wearable actuators embedded in a vest, etc.Actuators can be of various types, such as linear, rotary, voice coil,resonant, inertial, and the like, and be powered from various source,such as electric (including electromechanical), pneumatic, hydraulic,etc. The motion signal may be output from a motion program or motiontrack that is programmed based on a viewing of the audio-visual output,and comprises actuator-driving instructions to drive the actuators ofthe motion platform 10 to perform the programmed vibro-kinetic effectsin audio-visual output. Other names for the motion signal may includevibro-kinetic signal, motion code, motion samples, data packets ofmotion, etc. The motion platform 10 may therefore have a digital signalprocessor and/or driver in order to convert the motion signal receivedfrom the motion controller 20 into signals controlling the movementsperformed by the actuators to displace the seat or platform of themotion platform 10.

Referring to FIG. 2, a multi-platform vibro-kinetic system is generallyshown relative to a theater type facility. The theater type facility maybe part of a cinema, an auditorium, stadium, a theater, a hall, i.e., itis configured to host many participants. The facility may have aplurality of seats, at least some of which are motion platforms 10 asdescribed in FIG. 1. In FIG. 2, the motion platforms 10 are shown as anarray of motion platforms 10, arranged in a grid. According to anembodiment, all of the seats of the facility are motion platforms 10,though fewer than all seats may be motion platforms 10—some seats may befixed. For subsequent reference, the motion platforms 10 are shown asbeing separated in rows A, B, C, D, E and F, with the seats labelled 1to 8, for a total of 48 motion platforms 10, although fewer or more maybe present. Accordingly, the item shown as A2 is seat 2 in row A, etc.When numerous motion platforms 10 are present, the motion controller 20may be a plurality of motion controllers 20, for instance in adaisy-chain configuration.

The facility may also have a scene S and/or a screen M. According to anembodiment, all seats of the motion platforms 10 are oriented to facethe scene S and/or screen M. While all seats are shown in FIG. 2 asbeing in parallel columns, other seating arrangements are contemplatedbased on the nature of the facility. For example, the seats may beoriented in a radial configuration relative to the scene S and/or screenM. In yet another embodiment, the scene S may be a central scene S withthe seats arranged in an annular array or semi annular array around thescene S. The scene S may have a zone Z at which a comedian, entertaineror other performance artist may stand to face and address the crowd. Thescreen M may be any type of screen. For example, the screen M may beassociated with a projector in a projection room, or may be a giantscreen monitor, an array of giant screen monitors, etc. As yet anotherembodiment, each participant has a personal virtual reality (VR)headset, such as an Oculus® Rift®, or any other type of headset,including smart phones with supportive head gear. In an embodiment, allviewers in the array of seats of FIG. 2 simultaneously watch the same VRcontent, though each viewer has his/her own VR headset.

Still referring to FIG. 2, the multi-platform vibro-kinetic system mayinclude the motion controller 20, also known as motion controller hub.The motion controller 20 communicates with the motion platforms 10 toactuate them, for the motion platforms 10 to produce vibro-kineticeffects. The connection between the motion controller 20 and thenumerous motion platforms 10 may take any appropriate form, some ofwhich are described in U.S. Pat. No. 9,878,264, incorporated herein byreference. For example, arrays of the motion platform 10 may beconnected to any one port of the motion controller 20. Moreover,although one motion controller 20 is shown, multiple motion controllers20 may be present, in the form of various hubs each driving a set of themotion platforms 10.

The motion controller 20 has the capacity of delivering the motionsignals to all motion platforms 10 simultaneously. The motion controller20 also has the capacity of actuating individual motion platforms 10, aseach of the motion platforms 10 may have a network address. According toan embodiment, the motion controller 20 may associate a network addressto each motion platform 10 connected thereto. The network address canalso be provided in order to follow distributions of seats, for example,in the facility. In another embodiment, the motion controller 20 canstore the association of the network address of each motion platform 10in order to define a network topology of the motion platforms 10. In oneembodiment, the network address can be any IP address, logical address,numerical identifier, physical address or the like. In yet anotherembodiment, the network address defines a logical point-to-pointassociation for each motion platform. Alternatively, motion platforms 10can be managed by the motion controller 20 without using a networkaddress. Also, the motion platforms 10 may receive individual signals bybeing instructed to listen to a specific channel in a multi-channelsignal.

According to an embodiment, a bidirectional control protocol is used,according to which each downstream control port of the motion controller20 may be a bidirectional link through which the motion controller 20controls and manages individually each motion platform 10. Aunidirectional control protocol may also be used. The motion controller20 may have the capacity of sending individual and independent clientmotion signals, namely dedicated motion signals addresses indicative ofa motion to be performed by a selected motion platform(s) 10, along withthe network address and/or the control data. In contrast, global motionsignals may be sent to all motion platforms, i.e., without a networkaddress (or non-seat specific), to drive all motion platformssimultaneously, or with all network addresses.

The bidirectional control protocol may allow each motion platform 10 toreturn a feedback signal to the motion controller 20. In one embodiment,the feedback signals may comprise the network address identifying themotion platform 10 sending the feedback signal to the motion controller20. In this embodiment, the network address of each motion platform 10may be used by the motion controller 20 for management or maintenancepurposes by, for example, monitoring specific operating parameters ofthe individual motion platform 10 such as the temperature of theactuators being used, the weight, or fault information data. Bydetecting the weight on a motion platform 10, the presence of a user maybe confirmed, or how the user is seated. In one embodiment, the motioncontroller 20 provides commands to control each motion platform 10, forinstance to turn the actuation of a platform 10 to an “on” state if aseat is attributed to a user in a movie theatre. In another embodiment,the motion controller 20 adjusts movement parameters as a function ofthe weight data perceived by the sensors of the motion platforms 10. Forexample, it may be desired that a child not be exposed to the sameaccelerations as an adult, and the weight data may be used to adjust theintensity of the movements of the motion platforms 10 based on weight.While the motion controller 20 is described above as centrally providingan intensity based on weight, the weight-based intensity may becontrolled locally, with the digital signal processor or driver of themotion platform 10 modulating the effects as a function of the weight.Based on the network address of each motion platform 10, the motioncontroller 20 manages the motion platforms 10 connected to the hub 10,including start-up, standby and fault management.

According to an embodiment of the control protocol, the motioncontroller 20 repeatedly seeks feedback from each motion platform 10.For example, if communication is lost with one actuator of a motionplatform 10 of the array of FIG. 2 or if a failure of one platform 10 isdetected during the motion playback, the driver of the motion platform10 detects the error and informs the motion controller 20. Based on thetype of error, the motion controller 20 may park or freeze the motionplatform 10. In another embodiment, the communication between the motionplatform 10 and the motion controller 20 is maintained. The motioncontroller 20 may reactivate the faulty motion platform using commandssent to the motion platform 10. Under given circumstances (when failureis due to high temperature of an actuator for example), the motioncontroller 20 may resume the motion control of a platform 10 that hasfailed after a given period of time.

Accordingly, the motion controller 20 may send motion signals to any oneor more seats, while not sending and/or addressing motion signals to anyother seat, such that the other seats remain still. The motioncontroller 20 may receive the motion signals from a motion sample source30. The motion sample source 30 may take different forms. For example,the motion sample source 30 may be a DCP (digital cinema package) in aD-cinema player. The DCP may include a channel or channels dedicated tosupporting a motion track of motion samples. The motion track maytherefore be the motion signal output synchronously with an audio trackand/or a video track contained in the DCP. Accordingly, the audio trackand/or the video track are output via loudspeakers and projector insynchronization with the motion track, whereby the motion controller 20may drive the motion platforms 10 to move in synchronization with theaudio and video, by feeding them motion signals.

The motion sample source 30 may also be cloud-based, with motion signalstherefrom received by the motion controller 20 for driving the motionplatforms 10. Various approaches may be taken by the motion controller20 to drive the motion platforms 10 in synchronization with a videooutput or audio output. In accordance with an embodiment, the motioncontroller 20 may perform or initiate media recognition to synchronizethe sending of the motion signal to the motion platforms 10 with themedia. The media recognition performed or initiated by the motioncontroller 20 may be as described in U.S. Pat. No. 9,640,046,incorporated herein by reference. In such a scenario, the motioncontroller 20 may access a media content database 50, for instance as acloud-based database, or a database integrated in the motion controller20 or in another component of the system.

According to another embodiment, the motion sample source 30 provides amotion track that is in synchronization with the media content broadcastto the VR headsets of the viewers. In such an embodiment, differentapproaches may be used to synchronize the movement of the motionplatforms 10 with the media content. For example, PCT Patent ApplicationNo. PCT/US2016/062182 describes a method and system for synchronizingvibro-kinetic effects to a virtual reality session, which method may beused to synchronize one of any one of the seats with the VR content. Ifthe VR content is broadcast for simultaneous playback by the VRheadsets, the motion controller 20 may perform the synchronizationmethod of PCT Patent Application No. PCT/US2016/062182 with a single oneof the VR headsets, to then output the motion signals to all motionplatforms 10 based on the synchronization with a single one of the VRheadsets, as one possibility among others.

The motion controller 20 may also receive motion code and drivingcommands from a live control unit 40. While the motion sample source 30may provide a continuous stream of motion samples, a.k.a., a motiontrack, the live control unit 40 may be used to punctually drive themotion platforms 10 for example as a controlled by live action commandsby an operator in the facility. This may include actuation by theperforming artist on scene S, by a director or technician behind thescene S, etc. However, for consistency, reference is made herein to theoperator. The driving by the live control unit 40 may be done inalternation with the actuation of the motion platforms 10 by a motiontrack from the motion sample source 30 described above, i.e., thecontinuous stream of motion signal with motion samples, or in supplementto it. In accordance with an embodiment, the driving by the live controlunit 40 overrides the continuous stream of motion samples.

Referring to FIG. 3, the live control unit 40 is shown in greaterdetail. The live control unit 40 may include one or more processorsconfigured to operate modules and software. The live control unit 40 mayalso include a non-transitory computer-readable memory communicativelycoupled to the processor(s) and comprising computer-readable programinstructions executable by the processor(s). The various modules andlike algorithms defined herein may be such computer-readable programinstructions. Moreover, although the motion controller 20 and the livecontrol unit 40 are shown as separate apparatuses, they may both be aspart of a same integrated casing, with shared computing, etc. However,for simplicity, the live control unit 40 is described herein as aseparate apparatus. The live control unit 40 may operate with one orboth of a capture device(s) 60 and a user interface(s) 70.

The capture device(s) 60 may be a 3D capture device for capturing imagesof an operator. According to an embodiment, the capture device(s) 60focuses on the zone Z of the scene S, where an operator stands, theoperator being in an embodiment the performing artist during aperformance. The capture device(s) 60 may be selected to capture 2Dfootage of the operator, the 2D footage usable to produce a 3Drepresentation of the operator, whose movements may then be interpretedto detect instructions. The capture device(s) 60 may have a processor tooutput the 3D representation, or the 3D representation may be producedby the live control unit 40 using the data capture by the capturedevice(s) 60. For example, the capture device 60 includes two differentcameras in order to produce the 3D representation by triangulation ofthe images from the different cameras. The expression capture device 60is used herein in the singular or plural considering that the twodifferent cameras providing the two points of view for triangulation anddepth assessment may be part of a same casing, or of two differentcasings. In an embodiment, as shown in FIG. 2, there are two capturedevices 60, each providing at least one camera and one point of view.The capture devices 60 may also be closer to the scene S, and may evenbe on the scene S. According to an embodiment, the 3D capture devices 60are point-cloud capture units, such as the Kinect™ or PrimeSense™. Thecapture devices 60 may include an infrared source to emit an infraredspeckle map to assist in the depth perception, for the subsequentgeneration of a 3D model of the operator. In an embodiment, the imagesare infrared speckles forming clouds of points, well suited for indooruse. The images captured by the capture device(s) 60 may include othertypes of visual data, such as reflective patterns on the operator, etc.The capture device 60 may also include or may also be a motion capturesuit, such as a Xsens® motion capture suit.

The interface 70 may be any appropriate handheld device (e.g., pad,smart phone, remote control, joystick, among others) that may beprovided for the operator to perform commands related to the actuationof the motion platforms 10, for example as part of the performance. As ahandheld device, the interface 70 may have a touchscreen withappropriate command buttons, facility seat disposition (e.g., an arrayas in FIG. 2) sliders and the likes, provided thereon (e.g., anapplication on the interface 70).

The live control unit 40 may have a control driver module 41 configuredfor commanding the motion controller 20. The live control unit 40 maydrive the motion controller 20 by sending motion signals with or withoutnetwork addresses, for the motion controller 20 to actuate the motionplatforms 10 based on the commands from the live control unit 40. Themotion signals and network addresses may result from the capture orreception of live manual instructions from an operator(s), as detailedbelow.

In an embodiment, gestures from the operator are detected and serve aslive manual instructions. The live control unit 40 may consequentlyinclude a model generating module 42, if the capture device(s) 60 doesnot itself output the 3D model. The model generating module 42 receivesthe visual data captured by the capture device(s) 60. The visual datamay depend on the type of capture devices being used. For example, thevisual data may be at least two 2D image streams from separate points ofview (i.e., camera footage). With the visual data, the model generatingmodule 42 (whether in the live control unit 40 or in the capturedevice(s) 60) may generate a 3D image stream from the visual data.Stated differently, triangulation may be used by the model generatingmodule 42 to provide a location in 3D space (X, Y, Z) to points on theobjects of the 2D images. With the points, a 3D model of the operatormay be generated in the 3D space, in real time or quasi-real time.

With the 3D model of the operator, the live control unit 40 hassufficient resolution to distinguish the various parts of the operator'sanatomy, e.g., torso, legs, arms, head. For example, the limbs of theoperator project from a torso sufficiently to be recognizable from theresolution of the 3D model. Hence, a movement interpreting module 43 isconfigured to monitor the 3D model stream or footage to recognize themovements of the operator and interpret the movements as manualinstructions. In an embodiment, a pre-show calibration can be done, bywhich the 2D images from the capture devices 60 and/or the 3D images ofthe model generating module 42 are displayed for a director ortechnician to tag or delimit the torso and limbs of an operator oroperators. As a consequence, the recognition of the anatomical parts bythe movement interpreting module 43 may be facilitated. However, in anembodiment, the live control unit 40 operates without such calibration.

The movement interpreting module 43 may be programmed with movementpatterns, for instance in pattern database 43A, with which the movementinterpreting module 43 may comparatively detect gestures representingmanual instructions. For instance, the movement interpreting module 43may track a torso and arms of the operator, to identify an arm movement(e.g., raise). In the pattern database 43A, a given orientation of thearm relative to the torso may be regarded as a manual instruction actionand hence be identified as such by the movement interpreting module 43.Likewise, an arm or leg pointing to a given zone in the array of seatsmay be regarded as a manual identification of seats. Depending on theresolution provided by the capture devices 60, more intricate movements,such as finger pointing, may also be detected as manual instructions.Consequently, the movement interpreting module 43 may output anindication, such as pointing arm, raised arm, waving arm, kicking leg,just to name a few of the numerous movements that may be interpreted bythe movement interpreting module 43. The output of the movementinterpreting module 43 to the other modules may be in any appropriateformat, including codes or modes. For example, the movement interpretingmodule 43 may indicate that the manual instruction is a mode 1 or code2, with the responsive modules of the live control unit 40 associatingmode 1 or code 2 to a specific type of manual instruction. Once themovement interpreting module 43 has interpreted a movement from theoperator, different types of actuations may result depending on thenature of the movement. According to an embodiment, an effect generatingmodule 44 may generate a specific effect based on the type of manualinstructions. The effect generating module 44 may receive the output ofthe movement interpreting module 43, and associate the type of movementto a given motion sample. For example, an arm pointing toward the sky,or a kicking leg, as interpreted by the movement interpreting module 43,may prompt the effect generating module 44 to output a given motionsample, such as an up-down movement of the motion platform(s) 10. Asanother example, for illustrative purposes only, the movementinterpreting module 43 may interpret the arms of the operator asprojecting laterally from his/her torso, and this may cause the effectgenerating module 44 to output a motion sample resulting in a roll ofthe motion platforms 10, provided the motion platforms 10 have a rollcapacity. As another example of a motion sample from the motion sampledatabase 44A, the operator may trigger an effect that propagates with atimed delay to neighbor seats, such as a linear/radial wave. Forexample, the same effect can be played with increasing onset delay fromrow A to row F (FIG. 2). The effect can be modulated as it is activatedbetween successive rows (crisper in first row, softer in last row, forexample), i.e. by changing filter parameters between row triggers. Thetimed delay to neighbor seats can be dependent on the physical distancebetween the seats according to a 2D/3D floor plan, e.g. 500 ms delay permeter distance from selected seat B7 (300 ms to 700 ms delay). Theeffect generating module 44 may therefore be associated with a motionsample database 44A to match motion samples to types of movementsdetected by the movement interpreting module 43.

Some of the manual instructions may be used by the live control unit 40to command short duration movements by the motion platform(s) 10 (e.g.,milliseconds, or less than a second), or simply movements having adefinite duration. Some other types of manual instructions may be usedby the live control unit 40 to command movements of indefinite durationby the motion platform(s) 10. For example, a gesture of the operator maymanually instruct the live control unit 40 to initiate a given vibrationof the motion platforms 10 until the operator ceases the gesture. Asanother example, the raised arm of the operator can result in a pitchvibration (provided the motion platforms 10 have the physical capacityto produce such movements). The lowering of the arm, after a givenamount of time, may end the pitch vibration. In such a scenario, themovement interpreting module 43 would output a continuous movementinterpretation to the effect generator module 44, and the latter wouldcontinuously output the corresponding motion samples until the ceasingof the movement interpretation.

The live control unit 40 may have a movement quantifying module 45, toquantify the movements from the operator. The quantification of themovements may be used to adjust the parameters of actuation of themotion platforms 10. Such parameters include, for example, amplitude,frequency, distance, etc. For example, an arm of the operator may waiveor effect a reciprocating up-down pattern, and the live control unit 40may adjust a vibration, a stroke, an amplitude of movement actuation ofthe motion platform 10, to create a movement of the seats 11 of themotion platforms 10 that matches the movements of the operator. Theoutput of the movement quantifying module 45 may be used in conjunctionwith the output of the effect generating module 44, as the effectgenerating module 44 outputs the motion samples, and the movementquantifying module 45 quantifies the intensity of the motion samples,i.e., the vibro-kinetic effect produced may be proportional to thequantifying of the movements. Accordingly, the movement quantifyingmodule 45 monitors the output from the movement interpreting module 43to quantity gesturing movements from the operator. In an embodiment, themovement quantifying module 45 may be triggered to monitor movementsonly when a specific type of movement is interpreted by the movementinterpreting module 43, to avoid unnecessary computing. The output fromthe movement interpreting module 43 to the movement quantifying module45 may be of any appropriate form. For instance, the output may have theform of a focused portion or all of the 3D image stream, or it may bedistance-based data, such as speed, distance, acceleration, etc, whichis then converted by the movement quantifying module 45 in movementquantification to be applied to the motion samples.

The movements may not apply to all of the motion platforms 10, but mayinstead be limited to a given seat or seats, for example seats of agiven zone. A zone determining module 46 may be used to associate agesture of the operator to an identification of specific seats to beactuated. For example, an arm pointing in a given orientation may beused by the live control unit 40 to indicate that only a given zone ofmotion platforms 10 are to be actuated. Hence, the zone determiningmodule 46 determines the seats in the array of seats of FIG. 2 that arebeing pointed. According to an embodiment, the zone determining module46 performs a projection of the limb onto a grid representative of the3D space of the facility. Such projection may therefore be based on theorientation of the arm, and the location of the operator on the scene S.Zones may be regrouped in any type of manner, such as all seats 7 and 8(i.e., A7, A8, B7, B8, etc. . . . ). In an embodiment, a pointing fingercan discriminate between multi-seat identification, or a single seatidentification.

The zone determining module 46 may be used in conjunction with theactions of the effect generating module 44 and/or of the movementquantifying module 45. For example, a pointing arm from the operator mayindicate a vibration of seats from the effect generating module 44, withthe zone being pointed by the projection of the pointing arm interpretedby the zone determining module 46 as being only given seats beingactuated to this vibration, and with the amplitude of vibration beingdetermined by the movement quantifying module 45. As another embodiment,this interpretation may be based on separate commands from two limbs.For example, a left arm interpreted as being raised by the movementinterpreting module 43 may cause a vibration, with the right armmovement and orientation used by the movement quantifying module 45 andthe zone determining module 46 respectively for intensity and zonedetermination.

While the above description refers to a single operator, the livecontrol unit 40 may also receive manual instructions from more than oneoperator. If the manual instructions are conflicting, the live controlunit 40 may be programmed with a priority. As another possibility,conflicting manual instructions may cancel each other out. In anembodiment, the capture device(s) 60 are for one operator, and the userinterface 70 for another. The other operator may not necessarily be onscene.

Therefore, the effect generating module 44, the movement quantifyingmodule 45 and/or the zone determining module 46 output data to thecontrol driver module 41. The control driver module 41 produces a motionsignal, with or without network addresses, for the motion controller 20to actuate the motion platform(s) 10 based on the instructions from theoperator(s).

From a general perspective, the live control unit 40 performs a methodfor actuating motion platforms of a multi-platform vibro-kinetic system,by: obtaining a stream of a three-dimensional model representation of anoperator; monitoring the stream and interpreting at least one movementof the operator from the stream as a manual instruction for effectgeneration; and outputting a motion signal containing instructions forproducing a vibro-kinetic effect on at least one of the motionplatforms.

According to another embodiment, the live control unit 40 may alsoreceive motion commands from a user interface 70. The user interface 70may be an alternative or a supplement to motion detection by the capturedevices 60. In the case of the user interface 70, any operator,including the on-scene operator, may give instructions to the effectgenerating module 44, the movement quantifying module 45 and/or the zonedetermining module 46.

In an embodiment, the multi-platform vibro-kinetic system of the presentdisclosure may, for instance, have a system for actuating motionplatforms 10, for instance via processors of the motion controller 20and/or of the live control unit 40 may obtaining movements of at leastone operator, interpreting the movements of the operator and identifyingfrom the movements an operator instruction for effect generation, andoutputting a motion signal containing instructions for producing avibro-kinetic effect on at least one of the motion platforms as aresponse to the operator instruction. Obtaining movements of operator(s)may include obtaining a stream of a three-dimensional modelrepresentation of an operator, capturing the movements from at least onemotion sensing input device and/or generating the three-dimensionalmodel representation of the operator. The system may obtain a motionsample(s) as a function of an interpreted type of the movements, such asfrom a database matching motion samples with interpreted types ofmovements. The system may quantify the movements of the operator, andwherein outputting the motion signal includes producing thevibro-kinetic effect proportional to the quantifying of the movements,such as by being triggered by interpreting at least one of movements asa trigger for the quantifying. Producing the vibro-kinetic effectproportional to the quantifying of the movements may entail adjustingone or more of an amplitude, a frequency, and a distance of the motionplatform. The system may identify from the movements a zone of themotion platforms to which the motion signal is output as a response tothe operator instruction, while motion platforms outside the zone arenot actuated as a response to the operator instruction, such as byinterpreting a direction of a pointing limb of the operator to identifythe zone. The system may output the motion signal to a plurality of themotion platform, such as by adding a timed delay to neighbor ones of themotion platforms as a function of a physical distance between the seats(e.g., a timed delay of 300 ms to 700 ms per meter). The system mayoutput a motion signal track to a plurality of the motion platforms, forexample, in synchronicity with an audio track and/or a video track whileoutputting the motion signal as a response to the operator instruction.The motion signal may supersede or supplement the outputting of themotion signal track. The system may also actuate actuators of the motionplatform(s) 10 with the motion signal to produce the vibro-kineticeffect (e.g., at a frequency spectral content of 0-200 Hz).

While the methods and systems described herein have been described andshown with reference to particular steps performed in a particularorder, it will be understood that these steps may be combined,subdivided or reordered to form an equivalent method without departingfrom the teachings of the present invention. Accordingly, the order andgrouping of the steps is not a limitation of the present disclosure. Forexample, the live control unit 40 may be connected directly to themotion platforms 10, or may incorporate in the control driver module 41functions performed by the motion controller 20. The live control unit40 may produce motion signals with network addresses.

The invention claimed is:
 1. A system for actuating motion platforms ofa multi-platform vibro-kinetic system comprising: a processing unit; anda non-transitory computer-readable memory communicatively coupled to theprocessing unit and comprising computer-readable program instructionsexecutable by the processing unit for: obtaining movements of at leastone operator, interpreting the movements of the operator and identifyingfrom the movements an operator instruction for effect generation, andoutputting a motion signal containing instructions for producing avibro-kinetic effect on at least one of the motion platforms as aresponse to the operator instruction.
 2. The system according to claim1, wherein obtaining movements of at least one operator includesobtaining a stream of a three-dimensional model representation of anoperator.
 3. The system according to claim 2, wherein obtainingmovements of the operator includes capturing the movements from at leastone motion sensing input device.
 4. The system according to claim 3,wherein obtaining movements of the operator includes generating thethree-dimensional model representation of the operator.
 5. The systemaccording to claim 1, wherein interpreting the movements of the operatorincludes obtaining a motion sample as a function of an interpreted typeof the movements.
 6. The system according to claim 5, wherein outputtinga motion signal includes obtaining the motion sample from a databasematching motion samples with interpreted types of movements.
 7. Thesystem according to claim 1, wherein interpreting the movements of theoperator includes quantifying the movements of the operator, and whereinoutputting the motion signal includes producing the vibro-kinetic effectproportional to the quantifying of the movements.
 8. The systemaccording to claim 7, wherein quantifying the movements of the operatoris triggered by interpreting at least one of movements as a trigger forthe quantifying.
 9. The system according to claim 7, wherein producingthe vibro-kinetic effect proportional to the quantifying of themovements includes adjusting one or more of an amplitude, a frequency,and a distance of the motion platform.
 10. The system according to claim1, wherein identifying from the movements an operator instruction foreffect generation includes identifying from the movements a zone of themotion platforms to which the motion signal is output as a response tothe operator instruction, while motion platforms outside the zone arenot actuated as a response to the operator instruction.
 11. The systemaccording to claim 10, where identifying the zone of the motionplatforms includes interpreting a direction of a pointing limb of theoperator to identify the zone.
 12. The system according to claim 1,wherein outputting the motion signal includes outputting the motionsignal to a plurality of the motion platform and wherein outputting themotion signal includes adding a timed delay to neighbor ones of themotion platforms as a function of a physical distance between the seats.13. The system according to claim 12, wherein adding a timed delayincludes adding a timed delay of 300 ms to 700 ms per meter.
 14. Thesystem according to claim 1, further comprising outputting a motionsignal track to a plurality of the motion platforms while outputting themotion signal as a response to the operator instruction.
 15. The systemaccording to claim 14, wherein outputting the motion signal track isoutput in synchronicity with an audio track and/or a video track. 16.The system according to claim 14, wherein outputting the motion signalas a response to the operator instruction supersedes or supplements theoutputting of the motion signal track.
 17. The system according to claim1, further comprising actuating actuators of the at least one motionplatform with the motion signal to produce the vibro-kinetic effect. 18.The system according to claim 17, wherein actuating the actuatorsincludes actuating the actuators at a frequency spectral content of0-200 Hz.
 19. A multi-platform vibro-kinetic system comprising: aplurality of motion platforms each having actuators to be displaceableto produce vibro-kinetic effects; the system according to claim 1 foractuating the motion platforms.
 20. The multi-platform vibro-kineticsystem according to claim 19, further comprising at least one motionsensing input device for capturing movements of the operator.